TY - GEN
T1 - ModQuad-Vi
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
AU - Li, Guanrui
AU - Gabrich, Bruno
AU - Saldana, David
AU - Das, Jnaneshwar
AU - Kumar, Vijay
AU - Yim, Mark
N1 - Funding Information:
We acknowledge the support of the Brazilian agency CAPES, ARL DCIST CRA W911NF-17-2-0181, NSF grants CNS-1521617 and 1138847.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - Flying modular robots have the potential to rapidly form temporary structures. In the literature, docking actions rely on external systems and indoor infrastructures for relative pose estimation. In contrast to related work, we provide local estimation during the self-assembly process to avoid dependency on external systems. In this paper, we introduce ModQuad-Vi, a flying modular robot that is aimed to operate in outdoor environments. We propose a new robot design and vision-based docking method. Our design is based on a quadrotor platform with onboard computation and visual perception. Our control method is able to accurately align modules for docking actions. Additionally, we present the dynamics and a geometric controller for the aerial modular system. Experiments validate the vision-based docking method with successful results.
AB - Flying modular robots have the potential to rapidly form temporary structures. In the literature, docking actions rely on external systems and indoor infrastructures for relative pose estimation. In contrast to related work, we provide local estimation during the self-assembly process to avoid dependency on external systems. In this paper, we introduce ModQuad-Vi, a flying modular robot that is aimed to operate in outdoor environments. We propose a new robot design and vision-based docking method. Our design is based on a quadrotor platform with onboard computation and visual perception. Our control method is able to accurately align modules for docking actions. Additionally, we present the dynamics and a geometric controller for the aerial modular system. Experiments validate the vision-based docking method with successful results.
UR - http://www.scopus.com/inward/record.url?scp=85069847173&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85069847173&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794056
DO - 10.1109/ICRA.2019.8794056
M3 - Conference contribution
AN - SCOPUS:85069847173
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 346
EP - 352
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 20 May 2019 through 24 May 2019
ER -